Hybrid Nonlinear Model Predictive Motion Control of a Heavy-duty Bionic Caterpillar-like Robot
Dongyi Li,
Kun Lu,
Yong Cheng
et al.
Abstract:This paper investigates the motion control of the heavy-duty Bionic Caterpillar-like Robot (BCR) for the maintenance of the China Fusion Engineering Test Reactor (CFETR). Initially, a comprehensive nonlinear mathematical model for the BCR system is formulated using a physics-based approach. The nonlinear components of the model are compensated through nonlinear feedback linearization. Subsequently, a fuzzy-based regulator is employed to enhance the receding horizon optimization process for achieving optimal re… Show more
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